Twists of movements of parallel mechanisms inside singularities are considered. (W - 1) these twists exist for W-DOF mechanisms. The major contribution is associated with many examples of twists retaining singularity conditions. © 2006 Elsevier Ltd. All rights reserved.
Glazunov, V. (2006). Twists of movements of parallel mechanisms inside their singularities. Mechanism and Machine Theory, 41(10), 1185–1195. https://doi.org/10.1016/j.mechmachtheory.2005.12.001